private void BuildPiramidMatchingUsingOldKVector()
{
#region The old way of doing it
// The distance base "Pyramid" matching only uses limited number of stars
m_CelestialPyramidStars = m_CelestialAllStars.FindAll((star) => star.Mag >= m_PyramidMinMag && star.Mag <= m_PyramidMaxMag);
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine(string.Format("Building Pyramid Alignment Dataset of {0}/{1} stars in range {2}m - {3}m", m_CelestialPyramidStars.Count, m_CelestialAllStars.Count, m_PyramidMinMag.ToString("0.0"), m_PyramidMaxMag.ToString("0.0")));
m_Distances.Clear();
m_Entries.Clear();
m_StarsDistanceCache.Clear();
m_IndexLower.Clear();
m_IndexUpper.Clear();
// Build a list of distances
double maxFovInDeg = m_PlateConfig.GetMaxFOVInArcSec() / 3600.0;
for (int i = 0; i < m_CelestialPyramidStars.Count; i++)
{
IStar star1 = m_CelestialPyramidStars[i];
for (int j = i + 1; j < m_CelestialPyramidStars.Count; j++)
{
IStar star2 = m_CelestialPyramidStars[j];
double dist = AngleUtility.Elongation(star1.RADeg, star1.DEDeg, star2.RADeg, star2.DEDeg);
if (dist > maxFovInDeg) continue;
dist *= 3600.0;
m_Distances.Add(dist);
DistanceEntry entry = new DistanceEntry(star1, star2, dist);
m_Entries.Add(entry);
#region PerStar distance cache
ulonglong id1 = new ulonglong(star1.StarNo, star2.StarNo);
ulonglong id2 = new ulonglong(star2.StarNo, star1.StarNo);
Dictionary<ulonglong, DistanceEntry> map;
if (!m_StarsDistanceCache.TryGetValue(star1.StarNo, out map))
{
map = new Dictionary<ulonglong, DistanceEntry>();
m_StarsDistanceCache.Add(star1.StarNo, map);
}
map.Add(id1, entry);
if (!m_StarsDistanceCache.TryGetValue(star2.StarNo, out map))
{
map = new Dictionary<ulonglong, DistanceEntry>();
m_StarsDistanceCache.Add(star2.StarNo, map);
}
map.Add(id2, entry);
#endregion
}
}
// Build a K-Vector
double[] distArr = m_Distances.ToArray();
DistanceEntry[] entryArr = m_Entries.ToArray();
Array.Sort(distArr, entryArr);
m_Distances = new List<double>(distArr);
m_Entries = new List<DistanceEntry>(entryArr);
//Console.WriteLine(m_Distances.Count.ToString() + " match distances.");
double errorInArcSec = m_PlateConfig.GetDistanceInArcSec(m_Settings.PyramidDistanceToleranceInPixels);
errorInArcSec = 0; /* the error will be factored in later on */
int maxIdx = (int)Math.Round(m_PlateConfig.GetMaxFOVInArcSec() + 2 * errorInArcSec) + 1;
for (int i = 0; i < maxIdx; i++)
{
m_IndexLower.Add(i, -1);
m_IndexUpper.Add(i, -1);
}
int lower = -1;
int upper = -1;
for (int i = 0; i < m_Distances.Count; i++)
{
int dstL = Math.Max((int)(m_Distances[i] - errorInArcSec), (int)errorInArcSec);
if (dstL > lower)
{
lower = dstL;
for (int j = lower; j >= 0 && m_IndexLower[j] == -1; j--)
m_IndexLower[j] = Math.Max(i - 1, 0);
}
int dstU = Math.Max((int)Math.Round(m_Distances[i] + errorInArcSec), (int)errorInArcSec);
if (dstU > upper)
{
upper = dstU;
for (int j = upper; j >= 0 && m_IndexUpper[j] == -1; j--)
m_IndexUpper[j] = Math.Min(i, m_Distances.Count - 1);
}
}
for (int j = m_IndexLower.Count - 1; j >= 0 && m_IndexLower[j] == -1; j--)
m_IndexLower[j] = m_Distances.Count - 1;
for (int j = m_IndexUpper.Count - 1; j >= 0 && m_IndexUpper[j] == -1; j--)
m_IndexUpper[j] = m_Distances.Count - 1;
#endregion
}
internal IAstrometricFit IsSuccessfulMatch(
IStarMap starMap,
int i, int j, int k,
DistanceEntry ijEntry, DistanceEntry ikEntry, DistanceEntry jkEntry,
ulong iStarNo, ulong starNo2, ulong starNo3, double fittedFocalLength, bool isRatioFittedFocalLength, double toleranceInArcSec)
{
i--;
j--;
k--;
ImagePixel feature_i = GetCenterOfFeature(starMap.GetFeatureById(i), starMap);
ImagePixel feature_j = GetCenterOfFeature(starMap.GetFeatureById(j), starMap);
ImagePixel feature_k = GetCenterOfFeature(starMap.GetFeatureById(k), starMap);
#region find the numbers of the three stars: i, j, k
#if ASTROMETRY_DEBUG
Trace.Assert(ijEntry.Star1.StarNo == iStarNo || ijEntry.Star2.StarNo == iStarNo);
#endif
ulong jStarNo, kStarNo;
if (ijEntry.Star1.StarNo == iStarNo)
{
jStarNo = ijEntry.Star2.StarNo;
if (ijEntry.Star2.StarNo == starNo2) kStarNo = starNo3; else kStarNo = starNo2;
}
else
{
jStarNo = ijEntry.Star1.StarNo;
if (ijEntry.Star1.StarNo == starNo2) kStarNo = starNo3; else kStarNo = starNo2;
}
#if ASTROMETRY_DEBUG
Trace.Assert(ikEntry.Star1.StarNo == kStarNo || ikEntry.Star2.StarNo == kStarNo);
Trace.Assert(jkEntry.Star1.StarNo == kStarNo || jkEntry.Star2.StarNo == kStarNo);
#endif
#endregion
//if (DebugResolvedStars != null)
//{
// uint ii = 0, jj = 0, kk = 0;
// if (DebugResolvedStars.TryGetValue(i + 1, out ii) &&
// DebugResolvedStars.TryGetValue(j + 1, out jj) &&
// DebugResolvedStars.TryGetValue(k + 1, out kk))
// {
// if (ii == iStarNo && jj == starNo2 && kk == starNo3)
// {
// Debugger.Break();
// }
// else
// Trace.WriteLine(string.Format("PYRAMID: {0} = {1}, {2} = {3}, {4} = {5}",
// i, i == ii ? "YES" : "NO"
// , j, j == jj ? "YES" : "NO"
// , k, k == kk ? "YES" : "NO"));
// }
// else
// Trace.WriteLine(string.Format("PYRAMID: {0} = {1}, {2} = {3}, {4} = {5}",
// i, i == ii ? "YES" : "MISSING"
// , j, j == jj ? "YES" : "MISSING"
// , k, k == kk ? "YES" : "MISSING"));
//}
#if ASTROMETRY_DEBUG
PyramidEntry pyramidLog = new PyramidEntry(i, j, k, feature_i, feature_j, feature_k, iStarNo, jStarNo, kStarNo);
#endif
//// Note this is actually cheap way to confirm whether the 3 stars are good or not.
//List<IStar> threeStars = m_CelestialAllStars.FindAll(s => s.StarNo == iStarNo || s.StarNo == jStarNo || s.StarNo == kStarNo);
//if (threeStars.Count == 3)
//{
// Dictionary<AstroPixel, IStar> threeStarDict = new Dictionary<AstroPixel, IStar>();
// IStar stari = threeStars.Find(s => s.StarNo == iStarNo);
// threeStarDict.Add(feature_i, stari);
// IStar starj = threeStars.Find(s => s.StarNo == jStarNo);
// threeStarDict.Add(feature_j, starj);
// IStar stark = threeStars.Find(s => s.StarNo == kStarNo);
// threeStarDict.Add(feature_k, stark);
// DirectTransRotAstrometry solution = DirectTransRotAstrometry.SolveByThreeStars(m_PlateConfig, threeStarDict);
// if (solution != null)
// {
// pyramidLog.RegisterPreliminaryThreeStarFit(solution);
// }
//}
int locatedStars = 3;
m_MatchedPairs.Clear();
m_AmbiguousMatches.Clear();
m_MatchedFeatureIdToStarIdIndexes.Clear();
List<ulong> usedPyramidAngles = new List<ulong>();
foreach (StarMapFeature feature in starMap.Features)
{
if (feature.FeatureId == i) continue;
if (feature.FeatureId == j) continue;
if (feature.FeatureId == k) continue;
long idx_ix = ((long)i << 32) + (long)feature.FeatureId;
double dist_ix;
ImagePixel feature_x = GetCenterOfFeature(feature, starMap);
if (m_MatchedPairs.ContainsKey(feature_x)) continue;
if (isRatioFittedFocalLength || !m_FeaturesDistanceCache.TryGetValue(idx_ix, out dist_ix))
{
dist_ix = m_PlateConfig.GetDistanceInArcSec(feature_i.X, feature_i.Y, feature_x.X, feature_x.Y, fittedFocalLength);
long idx_xi = ((long)feature.FeatureId << 32) + (long)i;
if (!isRatioFittedFocalLength)
{
m_FeaturesDistanceCache.Add(idx_ix, dist_ix);
m_FeaturesDistanceCache.Add(idx_xi, dist_ix);
}
}
Dictionary<ulonglong, DistanceEntry> iStarDists = m_StarsDistanceCache[iStarNo];
foreach (ulonglong key in iStarDists.Keys)
{
// We have found a distance that matches the current feature
ulong xStarNo = key.Lo;
if (usedPyramidAngles.IndexOf(xStarNo) != -1) continue;
DistanceEntry entry_ix = iStarDists[key];
if (entry_ix.DistanceArcSec + toleranceInArcSec < dist_ix) continue;
if (entry_ix.DistanceArcSec - toleranceInArcSec > dist_ix) continue;
Dictionary<ulonglong, DistanceEntry> xStarDists = m_StarsDistanceCache[xStarNo];
#region Test the J-X pair
ulonglong jxKey = new ulonglong(xStarNo , jStarNo);
DistanceEntry entry_jx;
if (!xStarDists.TryGetValue(jxKey, out entry_jx)) continue;
long idx_jx = ((long)j << 32) + (long)feature.FeatureId;
double dist_jx;
if (isRatioFittedFocalLength || !m_FeaturesDistanceCache.TryGetValue(idx_jx, out dist_jx))
{
dist_jx = m_PlateConfig.GetDistanceInArcSec(feature_j.X, feature_j.Y, feature_x.X, feature_x.Y, fittedFocalLength);
long idx_xj = ((long)feature.FeatureId << 32) + (long)j;
if (!isRatioFittedFocalLength)
{
m_FeaturesDistanceCache.Add(idx_jx, dist_jx);
m_FeaturesDistanceCache.Add(idx_xj, dist_jx);
}
}
if (entry_jx.DistanceArcSec + toleranceInArcSec < dist_jx) continue;
if (entry_jx.DistanceArcSec - toleranceInArcSec > dist_jx) continue;
#endregion
#region Test the K-X pair
ulonglong kxKey = new ulonglong(xStarNo, kStarNo);
DistanceEntry entry_kx;
if (!xStarDists.TryGetValue(kxKey, out entry_kx)) continue;
long idx_kx = ((long)k << 32) + (long)feature.FeatureId;
double dist_kx;
if (isRatioFittedFocalLength || !m_FeaturesDistanceCache.TryGetValue(idx_kx, out dist_kx))
{
dist_kx = m_PlateConfig.GetDistanceInArcSec(feature_k.X, feature_k.Y, feature_x.X, feature_x.Y, fittedFocalLength);
long idx_xk = ((long)feature.FeatureId << 32) + (long)k;
if (!isRatioFittedFocalLength)
{
m_FeaturesDistanceCache.Add(idx_kx, dist_kx);
m_FeaturesDistanceCache.Add(idx_xk, dist_kx);
}
}
if (entry_kx.DistanceArcSec + toleranceInArcSec < dist_kx) continue;
if (entry_kx.DistanceArcSec - toleranceInArcSec > dist_kx) continue;
#endregion
// If we are here, then we have found another star
locatedStars++;
IStar xStar = entry_kx.Star1.StarNo == xStarNo ? entry_kx.Star1 : entry_kx.Star2;
#if ASTROMETRY_DEBUG
Trace.Assert(xStar.StarNo != iStarNo);
Trace.Assert(xStar.StarNo != jStarNo);
Trace.Assert(xStar.StarNo != kStarNo);
#endif
if (RegisterRecognizedPair(feature_x, xStar, feature.FeatureId))
{
usedPyramidAngles.Add(xStar.StarNo);
}
//Console.WriteLine(string.Format(" {0} ({1}) {2}\" {3}\" {4}\"", xStarNo, feature.FeatureId, dist_ix.ToString("0.0"), dist_jx.ToString("0.0"), dist_kx.ToString("0.0")));
}
}
if (locatedStars >= CorePyramidConfig.Default.MinPyramidAlignedStars)
{
ThreeStarFit.StarPair pair_i = new ThreeStarFit.StarPair(feature_i.X, feature_i.Y);
ThreeStarFit.StarPair pair_j = new ThreeStarFit.StarPair(feature_j.X, feature_j.Y);
ThreeStarFit.StarPair pair_k = new ThreeStarFit.StarPair(feature_k.X, feature_k.Y);
if (ijEntry.Star1.StarNo == iStarNo)
{
pair_i.RADeg = ijEntry.Star1.RADeg;
pair_i.DEDeg = ijEntry.Star1.DEDeg;
pair_i.Star = ijEntry.Star1;
pair_j.RADeg = ijEntry.Star2.RADeg;
pair_j.DEDeg = ijEntry.Star2.DEDeg;
pair_j.Star = ijEntry.Star2;
#if ASTROMETRY_DEBUG
Trace.Assert(ijEntry.Star1.StarNo == iStarNo);
Trace.Assert(ijEntry.Star2.StarNo == jStarNo);
#endif
RegisterRecognizedPair(feature_i, ijEntry.Star1, i);
RegisterRecognizedPair(feature_j, ijEntry.Star2, j);
}
else
{
pair_i.RADeg = ijEntry.Star2.RADeg;
pair_i.DEDeg = ijEntry.Star2.DEDeg;
pair_i.Star = ijEntry.Star2;
pair_j.RADeg = ijEntry.Star1.RADeg;
pair_j.DEDeg = ijEntry.Star1.DEDeg;
pair_j.Star = ijEntry.Star1;
#if ASTROMETRY_DEBUG
Trace.Assert(ijEntry.Star2.StarNo == iStarNo);
Trace.Assert(ijEntry.Star1.StarNo == jStarNo);
#endif
RegisterRecognizedPair(feature_i, ijEntry.Star2, i);
RegisterRecognizedPair(feature_j, ijEntry.Star1, j);
}
if (ikEntry.Star1.StarNo == kStarNo)
{
pair_k.RADeg = ikEntry.Star1.RADeg;
pair_k.DEDeg = ikEntry.Star1.DEDeg;
pair_k.Star = ikEntry.Star1;
#if ASTROMETRY_DEBUG
Trace.Assert(ikEntry.Star1.StarNo == kStarNo);
#endif
RegisterRecognizedPair(feature_k, ikEntry.Star1, k);
}
else
{
pair_k.RADeg = ikEntry.Star2.RADeg;
pair_k.DEDeg = ikEntry.Star2.DEDeg;
pair_k.Star = ikEntry.Star2;
#if ASTROMETRY_DEBUG
Trace.Assert(ikEntry.Star2.StarNo == kStarNo);
#endif
RegisterRecognizedPair(feature_k, ikEntry.Star2, k);
}
if (m_AmbiguousMatches.Count > 0 &&
locatedStars - m_AmbiguousMatches.Count >= CorePyramidConfig.Default.MinPyramidAlignedStars)
{
// If we have sufficient number of stars and ambiguous stars (close doubles that satisfy more than one solution)
// then remove all ambiguous stars before proceeding
foreach (ImagePixel matchedPixel in m_AmbiguousMatches)
{
IStar matchedStar = m_MatchedPairs[matchedPixel];
int featureToRemove = -1;
foreach (int featureId in m_MatchedFeatureIdToStarIdIndexes.Keys)
{
if (m_MatchedFeatureIdToStarIdIndexes[featureId] == matchedStar.StarNo)
{
featureToRemove = featureId;
break;
}
}
m_MatchedFeatureIdToStarIdIndexes.Remove(featureToRemove);
m_MatchedPairs.Remove(matchedPixel);
}
}
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Debug.WriteLine(string.Format("Attempting DistanceBasedContext.LeastSquareFittedAstrometry ({0}={1}; {2}={3}; {4}={5})", i, iStarNo, j, jStarNo, k, kStarNo));
return SolveStarPairs(
starMap, m_MatchedPairs, m_MatchedFeatureIdToStarIdIndexes, pair_i, pair_j, pair_k,
fittedFocalLength,
#if ASTROMETRY_DEBUG
pyramidLog
#else
null
#endif
);
}
else
{
#if PYRAMID_DEBUG || DEBUG
foreach(ImagePixel pixel in m_MatchedPairs.Keys)
{
IStar star = m_MatchedPairs[pixel];
foreach(int featureId in m_MatchedFeatureIdToStarIdIndexes.Keys)
{
if (m_MatchedFeatureIdToStarIdIndexes[featureId] == star.StarNo)
{
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
{
#if DEBUG
Debug
#endif
#if PYRAMID_DEBUG
Trace
#endif
.WriteLine(string.Format("({0}, {1}) - StarNo: {2}; FeatureId: {3}", pixel.X, pixel.Y, star.StarNo, featureId));
}
break;
}
}
}
#endif
#if ASTROMETRY_DEBUG
pyramidLog.FailBecauseOfTooFiewLocatedStars(locatedStars);
AstrometricFitDebugger.RegisterFailedPyramid(pyramidLog);
#endif
}
return null;
}
public static PyramidStarsDensityDistributor BuildPyramidMatchingByMagnitude(
List<IStar> pyramidStars,
AstroPlate image,
IAstrometrySettings settings,
Dictionary<int, ulong> debugResolvedStarsWithAppliedExclusions,
List<ulong> alwaysIncludeStars,
out List<DistanceEntry> distancesByMagnitude,
out Dictionary<ulong, Dictionary<ulonglong, DistanceEntry>> starsDistanceCache)
{
// 1) This should be the first N brightest (or all stars)
// 2) The memory structure should be a dictionary of Pairs with values all other pairs that include one of the pair
// 3) The dictionary should be sorted by brightness i.e. brightest pairs should be on the top/ NOTE: Exclude the brightest
// stars until the mag difference between the next 2 bright stars becomes less than 1 mag
// 4) Matching should be done by searching the distance match checking the brightest pairs first.
distancesByMagnitude = new List<DistanceEntry>();
starsDistanceCache = new Dictionary<ulong, Dictionary<ulonglong, DistanceEntry>>();
if (pyramidStars.Count == 0)
return null;
PyramidStarsDensityDistributor distributor;
pyramidStars.Sort((s1, s2) => s1.Mag.CompareTo(s2.Mag));
int n = pyramidStars.Count;
double maxFovInDeg = image.GetMaxFOVInArcSec() / 3600.0;
distributor = new PyramidStarsDensityDistributor(pyramidStars, image, settings);
distributor.DebugResolvedStarsWithAppliedExclusions = debugResolvedStarsWithAppliedExclusions;
distributor.Initialize(alwaysIncludeStars);
distancesByMagnitude.Clear();
starsDistanceCache.Clear();
List<ulong> resolvedDebugStarsNos = null;
if (debugResolvedStarsWithAppliedExclusions != null)
{
// This is disabled at the moment
resolvedDebugStarsNos = debugResolvedStarsWithAppliedExclusions.Values.ToList();
int pyramidStarsLocated = 0;
for (int i = resolvedDebugStarsNos.Count - 1; i >= 0 ; i--)
{
ulong starNo = resolvedDebugStarsNos[i];
IStar star = pyramidStars.FirstOrDefault(s => s.StarNo == starNo);
if (star != null)
pyramidStarsLocated++;
else
resolvedDebugStarsNos.Remove(starNo);
Trace.Assert(star != null, string.Format("Debug Star {0} not found in the pyramid stars!", starNo));
}
if (TangraConfig.Settings.TraceLevels.PlateSolving.TraceVerbose())
Trace.WriteLine(
string.Format("DEBUG ALIGN: {0} out of {1} Debug Stars found among the pyramid stars ({2})",
pyramidStarsLocated, resolvedDebugStarsNos.Count,
resolvedDebugStarsNos.Count > 1
? resolvedDebugStarsNos.Select(s => s.ToString()).Aggregate((a, b) => string.Concat(a, " ", b))
: ""));
}
// Start building the pairs
for (int j = 0; j < n; j++)
{
IStar jStar = pyramidStars[j];
if (!distributor.CheckStar(jStar))
{
if (resolvedDebugStarsNos != null)
{
if (resolvedDebugStarsNos.Contains(jStar.StarNo))
{
//Trace.Assert(false, "DebugResolved star pair not added to the pyramid areas because the distributor rejected it.");
}
}
continue;
}
for (int i = j + 1; i < n; i++)
{
IStar iStar = pyramidStars[i];
double distDeg = AngleUtility.Elongation(iStar.RADeg, iStar.DEDeg, jStar.RADeg, jStar.DEDeg);
if (distDeg > maxFovInDeg)
{
if (resolvedDebugStarsNos != null)
{
if (resolvedDebugStarsNos.Contains(iStar.StarNo) &&
resolvedDebugStarsNos.Contains(jStar.StarNo))
{
//Trace.Assert(false, "DebugResolved star pair not added to the pyramid areas because the distance is too large.");
}
}
continue;
}
if (!distributor.CheckStar(iStar))
{
if (resolvedDebugStarsNos != null)
{
if (resolvedDebugStarsNos.Contains(iStar.StarNo))
{
//Trace.Assert(false, string.Format("DebugResolved star {0} not added to the pyramid areas because the distributor rejected it.", iStar.StarNo));
}
}
continue;
}
distributor.MarkStar(iStar);
distributor.MarkStar(jStar);
DistanceEntry entry = new DistanceEntry(iStar, jStar, distDeg * 3600);
distancesByMagnitude.Add(entry);
#region PerStar distance cache
ulonglong id1 = new ulonglong(iStar.StarNo, jStar.StarNo);
ulonglong id2 = new ulonglong(jStar.StarNo, iStar.StarNo);
Dictionary<ulonglong, DistanceEntry> map;
if (!starsDistanceCache.TryGetValue(iStar.StarNo, out map))
{
map = new Dictionary<ulonglong, DistanceEntry>();
starsDistanceCache.Add(iStar.StarNo, map);
}
map.Add(id1, entry);
if (!starsDistanceCache.TryGetValue(jStar.StarNo, out map))
{
map = new Dictionary<ulonglong, DistanceEntry>();
starsDistanceCache.Add(jStar.StarNo, map);
}
map.Add(id2, entry);
#endregion
}
}
//if (resolvedDebugStarsNos != null)
//{
// foreach(uint starNo in resolvedDebugStarsNos)
// {
// DensityArea area = distributor.m_Areas.FirstOrDefault(a => a.m_IncludedStarNos.Contains(starNo));
// if (area != null)
// Trace.WriteLine(string.Format("DEBUG ALIGN: Star {0} located to area [{1:0.00}, {2:0.0}]", starNo, area.XMiddle, area.YMiddle));
// Trace.Assert(area != null);
// }
//}
return distributor;
}
internal IAstrometricFit IsSuccessfulMatch(
IStarMap starMap,
int i, int j, int k,
DistanceEntry ijEntry, DistanceEntry ikEntry, DistanceEntry jkEntry,
ulong iStarNo, ulong starNo2, ulong starNo3, double toleranceInArcSec)
{
return IsSuccessfulMatch(
starMap, i, j, k,
ijEntry, ikEntry, jkEntry,
iStarNo, starNo2, starNo3,
m_PlateConfig.EffectiveFocalLength, false, toleranceInArcSec);
}